Loose Rattling and Grinding Sound?

I drive a 2002 Ford Explorer SportTrac and about two days ago all of a sudden I started hearing strange noises coming from underneath the truck.

First, every time I hit a rough part of the road or a bump I can hear a metallic rattling sound like something was loose and shaking around.
The next issue is sometimes I feel and hear a pulsating grinding coming from the wheels that gets louder and stronger when I brake, and I can feel it in the pedal. It happens even when I'm not applying the brake but it is less intense. It also gets louder when I turn the steering wheel.

I know both problems are related because they started happening at the same time and I'm thinking it could be a brake problem but I'm not sure. Can anyone help me figure out what the deal is?

If it were me I'd stick my head under there and wiggle things around and see if there's something loose. But I'm just curious that way.

Your brakes are worn the F out and you have something loose -take it to shop - you have know clue and neither does anyone else who can't see it.

It is either a wheel hub problem or a brake caliper problem, or both. You better thank your gods you did not already flip the truck into a ditch. Get the truck to a shop, and have it inspected - today, not in another week.

After you find out what is going bad, watch a few videos on YouTube showing those parts being replaced, and decide whether you want to do it yourself or have a shop do it for you. Remember you need to use a scan tool to bleed the brake system properly or your ABS control unit will be full of air bubbles.